Difficulty level: Beginner
Approx reading time:
In this tutorial you will learn how to assemble a robot hand. This hand has one degree of freedom per finger, so it is easy to slave them to the same actuator to have a simple grasping hand, possibly with a separate actuator for the thumb.
To build the hand, follow this tutorial :
Prepare this list of materials before starting.
3D hand – The model can be found here, for printing yourself or ordering : http://www.shapeways.com/designer/therobotstudio
To make the finger with a 3D printer download the parts from thingiverse, print and clean up.
Ball bearings – each finger has 3 joints with 2 bearings, so 30 in total.
Caracteristics of the ball bearings :
Bore : 6 mm
Outer Diameter : 10 mm
Width : 3 mm
You can find them here.
It’s also very useful to use one 6*10*2.5 bearing to put inside the finger joint during assembly.
Fishing line – use for lacing the fingers and form the joints. You will need a lenght of 40cm for finger top joints, and 50cm for the middle joints.
Elastic – for making spring load mechanisms, for the finger return.
Superglue – a slow setting liquid for gluing the elastics.
Cable – use nylon cables to pull the fingers.
Teflon tube – This can be used under the finger sections to help the action of the cables pulling the fingers.
Rating widget: Login to rate this tutorial